• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.387-392
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• 1992

This paper presents a local trajectory generation method which is based on a sequence of reference posture-velocities and the efficient low level control algorithm which constructs the complete smooth curve from the trajectory specification. The reference trajectory generator(RTG) which is in between the local path planner(LPP) and the robot motion controller(RMC) generates a sequence of set-points for each path segments from the LPP and pass it to the RMC. The RMC controls the motions of vehicle which should follow the sequence. In the feedback controller of VMC, the method which compensates robot posture-velocity error correctly is used. These methods are implemented on indoor autonomous vehicle, 'ALIVE' mobile robot. The ALIVE mobile robot system is implemented on the 32bit VME bus system: the two VME CPU's are used for RTG and RMC, while the 80C196KC-based VME board is used for motor controller.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.309-316
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• 2000

A coordination method for a macro/micro robot with separate controllers is proposed and evaluated. The macro/micro robot system generally has independent controllers for the macro and the micro robot respectively. A controller for the coordination of the macro and the micro robot has been designed based on the stable independent controller of each system. The method and trajectory generation method is also proposed to track the moving desired position rapidly. The control method and trajectory generation method is also proposed to track the moving desired position rapidly. The control strategy has been implemented to the macro/micron robot system to evaluate the performance. The experimental results show that the proposed method for maintaining the micro robot within its workspace has uniform performance over the various range of the bandwidth and the proposed trajectory generator is shown to be efficient.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.1007-1015
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• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.6
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• pp.72-80
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• 2004

In this paper, the design procedure of a guidance algorithm in the boosting phase of missiles with free-flight after thrust cut-off is introduced. The purpose of the guidance is to achieve a required velocity vector at the thrust cut-off. Trajectory optimizations for four cost functions are performed to investigate implementable trajectories in the pitch plane. It is observed from the optimization results that high angle of attack maneuver in the beginning of the flight are required to satisfy the constraints. The proposed guidance algorithm consists of the pitch program to produce open-loop pitch attitude command and the yaw attitude command generator to nullify the velocity to go. The pitch program utilizes the pitch attitude histories obtained from the trajectory optimization.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.4_1
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• pp.549-558
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• 2020

We describe a new approach to real-time implementation of track record and trajectory control of robotic manipulator with eight joints based on monitoring simulator. Trajectory generator uses the kinematic equations of the arm to convert the task description into a series of set points for each of the joint control loops, while the joint controllers, with simple algorithms for just one joint can move at a fast sampling rate, guaranteeing a smooth motion. The proposed control scheme is robust, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate parameter information, nor values of manipulator parameters and payload. Reliability of the proposed technology is veriefied by monitoring simulation and experimental of robot manipulator for the smart factory with eight degrees of freedom.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.54 no.7
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• pp.345-351
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• 2005

An out-of-step condition results from the loss of the synchronism of the generators. A disturbance in a power system causes the generator angle to oscillate. When there is a severe disturbance such as a heavy current fault loss of major generation or loss of a large block of load, the oscillation can be severe and even increase largely and finally the out-of-step condition may un. During the power swing and out-of-step conditions, the apparent impedance at a relay location changes, and the power flow also changes as the angle difference is varied. This paper presents a method to analyze the trajectory of complex power during a power swing and out-of-step condition. The trajectory of the complex power is analyzed when a power swings and a fault occurs. Moreover, the complex power is analyzed when the ratios between the voltages at both sides and the line impedances are changed. These methods are verified through simulation using the ATP/EMTP MODELS.

• Proceedings of the KIEE Conference
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• 2005.07a
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• pp.310-312
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• 2005

An out-of-step condition results from the loss of the synchronism of the generators. A disturbance in a power system causes the generator angle to oscillate. When there is a severe disturbance such as a heavy current fault loss of major generation or loss of a large block of load the oscillation can be severe and even increase largely and finally the out-of-step condition may occur During the power swing and out-of-step conditions, the a apparent impedance at a relay location changes, and the power flow also changes as the angle difference is varied. This paper presents a method to analyze the trajectory of complex power during a power swing and out-of-step condition. The trajectory of the complex power is analyzed when a power swings and a fault occurs. Moreover, the complex power is analyzed when the ratios between the voltages at both sides and the line impedances are changed. These methods are verified through simulation using the ATP/EMTP MODELS.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.20-29
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• 2018

The dynamic characteristics of power systems become more and more complex because of the integration of large-scale wind power, which needs appropriate control strategy to guarantee stable operation. With wide area measurement system(WAMS) creating conditions for realizing realt-ime transient stability analysis, a new coordinated control strategy for power system transient stability control based on phase-plane trajectory was proposed. When the outputs of the wind farms change, the proposed control method is capable of selecting optimal generators to balance the deviation of wind power and prevent transient instability. With small disturbance on the base operating point, the coordinated sensitivity of each synchronous generator is obtained. Then the priority matrix can be formed by sorting the coordinated sensitivity in ascending order. Based on the real-time output change of wind farm, coordinated generators can be selected to accomplish the coordinated control with wind farms. The results in New England 10-genrator 39-bus system validate the effectiveness and superiority of the proposed coordinated control strategy.

• Journal of ILASS-Korea
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• v.5 no.3
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• pp.37-44
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• 2000

High velocity, gas-assisted liquid drop trajectories were investigated under well-controlled experimental conditions at elevated gas densities and room temperature. A monodisperse stream of drops which are generated by a vibrating-orifice drop generator were injected into a transverse high velocity gas stream. The gas density and air jet velocity were adjusted independently to keep the Weber numbers constant. The Weber numbers studied were 72, 148, 270, 532. The range of experimental conditions included studied the three drop breakup regimes previously referred as bag, stretching/thinning and catastrophic breakup regimes. High-magnification photography and conventional spray field photographs were taken to study the microscopic breakup mechanisms and the drop trajectories in high velocity gas flow fields, respectively. The parent drop trajectories were affected by the gas density and the gas jet velocities and do not show similarity with respect to the either Weber or the Reynolds number, as expected.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.5
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• pp.683-689
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• 2014

The paper introduces dynamic generation technique of foot trajectories for humanoid robots using CPG(Central Pattern Generator) and proposes adaptive walking method for slope terrains combining a feedback network. The proposed CPG based technique generates the trajectory of foot in the Cartesian coordinates system and it can change the step length adaptively according to the feedback information. To cope with variable slope terrains, the sensory feedback network in the CPG are designed using the geometry relationship between foot position and body center position such that humanoid robot can maintain its stability. To demonstrate the effectiveness of the proposed approach, the experiments on humanoid robot Nao are executed in the Webot simulation. The performance and motion features of the CPG based approach are compared and analyzed focusing on the adaptability in slope terrains.